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Sensors 2014, 14(12), 22998-23016; doi:10.3390/s141222998

A Velocity-Based Impedance Control System for a Low Impact Docking Mechanism (LIDM)

1
State Key Laboratory of Mechanics and Control Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
2
College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
*
Author to whom correspondence should be addressed.
Received: 19 September 2014 / Revised: 20 November 2014 / Accepted: 26 November 2014 / Published: 3 December 2014
(This article belongs to the Special Issue Sensor Innovations for Spacecraft Guidance, Navigation, and Control)

Abstract

In this paper, an impedance control algorithm based on velocity for capturing two low impact docking mechanisms (LIDMs) is presented. The main idea of this algorithm is to track desired forces when the position errors of two LIDMs are random by designing the relationship between the velocity and contact forces measured by a load sensing ring to achieve low impact docking. In this paper, the governing equation of an impedance controller between the deviation of forces and velocity is derived, and simulations are designed to verify how impedance parameters affect the control characteristics. The performance of the presented control algorithm is validated by using the MATLAB and ADAMS software for capturing simulations. The results of capturing simulations demonstrate that the impedance control algorithm can respond fast and has excellent robustness when the environmental errors are random, and the contact forces and torques satisfy the low impact requirements. View Full-Text
Keywords: low impact docking mechanism (LIDM); impedance control; velocity; capturing simulation low impact docking mechanism (LIDM); impedance control; velocity; capturing simulation
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Chen, C.; Nie, H.; Chen, J.; Wang, X. A Velocity-Based Impedance Control System for a Low Impact Docking Mechanism (LIDM). Sensors 2014, 14, 22998-23016.

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